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<h1>mdl_ur10</h1><p><span class="helptopic">Create model of Universal Robotics UR10 manipulator</span></p><p>
MDL_UR5 is a script that creates the workspace variable ur10 which
describes the kinematic characteristics of a Universal Robotics UR10 manipulator
using standard DH conventions.

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<p>
Also define the workspace vectors:

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<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> qz</td> <td>zero joint angle configuration</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> qr</td> <td>arm along +ve x-axis configuration</td></tr>
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<h2>Reference</h2>
<ul>
  <li>https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/actual-center-of-mass-for-robot-17264/</li>
</ul>
<h2>Notes</h2>
<ul>
  <li>SI units of metres are used.</li>
  <li>Unlike most other mdl_xxx scripts this one is actually a function that
behaves like a script and writes to the global workspace.</li>
</ul>
<h2>See also</h2>
<p>
<a href="mdl_ur3.html">mdl_ur3</a>, <a href="mdl_ur5.html">mdl_ur5</a>, <a href="mdl_puma560.html">mdl_puma560</a>, <a href="SerialLink.html">SerialLink</a></p>
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